version: 66.06
glider: 146
mission: 8
dive: 481
start: 4 30 113 15 40 9
data:
$ID,146
$MISSION,8
$DIVE,481
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,960
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,300
$T_MISSION,620
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52423
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2225
$TGT_DEFAULT_LON,-8113.5
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-318414.81
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3260
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3190
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.560358
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043571657
$SEABIRD_T_H,0.00063262874
$SEABIRD_T_I,2.5277763e-05
$SEABIRD_T_J,2.8683949e-06
$SEABIRD_C_G,-9.9054022
$SEABIRD_C_H,1.142597
$SEABIRD_C_I,-0.0022074829
$SEABIRD_C_J,0.00025491611
$GPS1,153206,1925.923,-8110.717,30,1.4,30,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-74.9
$GPS2,153913,1925.924,-8110.632,10,1.6,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.255,0.049
$KALMAN_X,-70206.7,-154.9,117.4,64607.4,1532.1
$KALMAN_Y,109004.3,5.4,-14.1,-104630.1,-401.7
$MHEAD_RNG_PITCHd_Wd,284.6,13021,-17.5,-10.000
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,84,0.00,0.00,-62.65,0.000,2,0.000,0.000,458,2193,3262,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-3.4,8,123,13.57,2.58,-10.52,0.000,4,0.156,0.051,2980,644,3785,0,0,0,0,0,0
$GC,292,-1.06,-146.0,44.8,-19.5,32,297,0.22,2.42,0.00,0.000,6,0.100,0.016,3027,2234,3786,0,0,0,0,0,0
$GC,558,-0.96,-146.0,83.8,-13.8,56,567,0.10,0.00,0.00,0.000,6,0.117,0.000,3051,2235,3786,0,0,0,0,0,0
$GC,823,-0.96,-146.0,115.0,-11.0,81,828,0.00,2.62,0.00,0.000,4,0.000,0.044,3051,640,3787,0,0,0,0,0,0
$GC,882,-0.96,-146.0,121.0,-10.8,85,886,0.00,2.42,0.00,0.000,6,0.000,0.017,3051,2213,3787,0,0,0,0,0,0
$GC,1148,-0.96,-146.0,147.9,-9.8,109,1153,0.00,2.50,0.00,0.000,4,0.000,0.035,3051,3780,3788,0,0,0,0,0,0
$GC,1181,-1.00,-146.0,150.9,-8.6,111,1186,0.00,2.42,0.00,0.000,6,0.000,0.021,3051,2213,3788,0,0,0,0,0,0
$GC,1446,-1.07,-146.0,173.0,-7.9,135,1452,0.10,2.60,0.00,0.000,4,0.077,0.046,2997,639,3788,0,0,0,0,0,0
$GC,1502,-1.07,-146.0,178.1,-9.6,139,1507,0.12,2.42,0.00,0.000,6,0.097,0.017,3026,2224,3787,0,0,0,0,0,0
$GC,1768,-1.12,-146.0,199.6,-7.4,163,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2224,3788,0,0,0,0,0,0
$GC,2018,-1.18,-146.0,217.7,-6.9,170,2022,0.00,2.58,0.00,0.000,4,0.000,0.043,3026,641,3788,0,0,0,0,0,0
$GC,2042,-1.23,-146.0,219.3,-7.2,170,2047,0.15,2.40,0.00,0.000,6,0.054,0.020,2955,2202,3788,0,0,0,0,0,0
$GC,2298,-1.16,-146.0,244.0,-9.8,177,2300,0.22,0.00,0.00,0.000,6,0.077,0.000,3008,2202,3788,0,0,0,0,0,0
$GC,2544,-1.21,-146.0,262.3,-7.2,183,2549,0.00,2.53,0.00,0.000,4,0.000,0.039,3008,3766,3788,0,0,0,0,0,0
$GC,2594,-1.27,-146.0,266.4,-7.9,184,2599,0.10,2.47,0.00,0.000,6,0.075,0.028,2954,2189,3788,0,0,0,0,0,0
$GC,2867,-1.21,-146.0,291.3,-9.0,191,2869,0.20,0.00,0.00,0.000,6,0.078,0.000,3001,2189,3786,0,0,0,0,0,0
$GC,3113,-1.21,-146.0,309.6,-7.5,197,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2189,3786,0,0,0,0,0,0
$GC,3354,-1.25,-146.0,327.8,-7.5,203,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2189,3786,0,0,0,0,0,0
$GC,3598,-1.29,-146.0,346.6,-7.7,209,3602,0.00,2.60,0.00,0.000,4,0.000,0.062,3000,643,3784,0,0,0,0,0,0
$GC,3628,-1.32,-146.0,349.0,-7.7,209,3633,0.12,2.42,0.00,0.000,6,0.065,0.030,2948,2179,3784,0,0,0,0,0,0
$GC,3878,-1.26,-146.0,373.9,-10.1,215,3880,0.17,0.00,0.00,0.000,6,0.087,0.000,2988,2179,3784,0,0,0,0,0,0
$GC,4122,-1.26,-146.0,393.6,-7.9,221,4126,0.00,2.60,0.00,0.000,4,0.000,0.060,2988,638,3783,0,0,0,0,0,0
$GC,4145,-1.26,-146.0,395.5,-8.5,221,4150,0.00,2.50,0.00,0.000,6,0.000,0.029,2988,2198,3783,0,0,0,0,0,0
$GC,4400,-1.26,-146.0,415.3,-7.6,228,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2198,3782,0,0,0,0,0,0
$GC,4644,-1.26,-146.0,434.1,-7.9,234,4649,0.00,2.65,0.00,0.000,4,0.000,0.062,2988,3786,3781,0,0,0,0,0,0
$GC,4687,-1.31,-146.0,437.5,-8.4,235,4692,0.00,2.55,0.00,0.000,6,0.000,0.038,2988,2215,3780,0,0,0,0,0,0
$GC,4970,-1.31,-146.0,459.5,-7.7,242,4975,0.00,2.78,0.00,0.000,4,0.000,0.088,2988,627,3779,0,0,0,0,0,0
$GC,5026,-1.36,-146.0,463.9,-8.1,243,5031,0.10,2.55,0.00,0.000,6,0.075,0.043,2940,2191,3778,0,0,0,0,0,0
$GC,5296,-1.30,-146.0,488.8,-9.4,250,5301,0.17,2.75,0.00,0.000,4,0.087,0.072,2980,3793,3777,0,0,0,0,0,0
$GC,5340,-1.30,-146.0,492.9,-8.7,251,5345,0.00,2.65,0.00,0.000,6,0.000,0.044,2980,2197,3778,0,0,0,0,0,0
$GC,5620,-1.30,-146.0,513.9,-7.6,258,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2197,3777,0,0,0,0,0,0
$GC,5861,-1.30,-146.0,532.8,-7.8,264,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2197,3775,0,0,0,0,0,0
$GC,6105,-1.30,-146.0,550.9,-7.3,270,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2197,3775,0,0,0,0,0,0
$GC,6349,-1.30,-146.0,568.8,-7.3,276,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2197,3774,0,0,0,0,0,0
$GC,6595,-1.30,-146.0,586.7,-7.4,282,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2197,3772,0,0,0,0,0,0
$GC,6836,-1.30,-146.0,605.7,-8.0,288,6841,0.00,2.88,0.00,0.000,4,0.000,0.091,2980,3789,3771,0,0,0,0,0,0
$GC,6858,-1.30,-146.0,607.6,-8.1,288,6862,0.00,2.75,0.00,0.000,6,0.000,0.064,2980,2193,3771,0,0,0,0,0,0
$GC,7115,-1.30,-146.0,627.5,-7.7,295,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2193,3769,0,0,0,0,0,0
$GC,7356,-1.30,-146.0,645.9,-7.5,301,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2193,3768,0,0,0,0,0,0
$GC,7600,-1.30,-146.0,663.9,-7.4,307,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2193,3767,0,0,0,0,0,0
$GC,7844,-1.30,-146.0,682.2,-7.6,313,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2193,3766,0,0,0,0,0,0
$GC,8090,-1.30,-146.0,700.8,-7.7,319,8095,0.00,3.08,0.00,0.000,4,0.000,0.130,2980,3786,3764,0,0,0,0,0,0
$GC,8123,-1.34,-146.0,703.8,-8.8,319,8129,0.00,2.97,0.00,0.000,6,0.000,0.111,2980,2205,3764,0,0,0,0,0,0
$GC,8373,-1.34,-146.0,722.9,-7.5,326,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2205,3763,0,0,0,0,0,0
$GC,8617,-1.34,-146.0,740.5,-7.3,332,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2205,3762,0,0,0,0,0,0
$GC,8863,-1.38,-146.0,757.9,-7.1,338,8868,0.00,3.22,0.00,0.000,4,0.000,0.157,2980,3788,3761,0,0,0,0,0,0
$GC,8885,-1.38,-146.0,759.7,-7.4,338,8890,0.00,2.85,0.00,0.000,6,0.000,0.088,2980,2202,3761,0,0,0,0,0,0
$GC,9140,-1.38,-146.0,777.7,-7.1,345,9141,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2202,3760,0,0,0,0,0,0
$GC,9387,-1.42,-146.0,794.5,-6.9,351,9389,0.12,0.00,0.00,0.000,6,0.071,0.000,2933,2201,3759,0,0,0,0,0,0
$GC,9628,-1.37,-146.0,815.8,-9.0,357,9633,0.12,2.88,0.00,0.000,4,0.101,0.094,2961,3791,3757,0,0,0,0,0,0
$GC,9678,-1.37,-146.0,820.3,-8.9,358,9683,0.00,2.75,0.00,0.000,6,0.000,0.071,2960,2207,3757,0,0,0,0,0,0
$GC,9953,-1.37,-146.0,841.8,-8.1,365,9954,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2207,3756,0,0,0,0,0,0
$GC,10196,-1.37,-146.0,861.8,-8.2,371,10198,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2207,3755,0,0,0,0,0,0
$GC,10438,-1.37,-146.0,881.3,-8.0,377,10443,0.00,2.83,0.00,0.000,4,0.000,0.087,2960,3794,3754,0,0,0,0,0,0
$GC,10473,-1.37,-146.0,884.2,-8.5,377,10479,0.00,2.78,0.00,0.000,6,0.000,0.067,2960,2204,3754,0,0,0,0,0,0
$STATE,10680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10680,begin apogee
$GC,10686,-0.31,0.0,900.7,7.8,383,10810,1.00,0.00,120.85,1.200,6,0.068,0.000,3190,2371,3190,0,0,0,0,0,0
$STATE,10811,end apogee,CONTROL_FINISHED_OK
$STATE,10811,begin climb
$GC,10814,1.27,146.0,903.2,0.0,386,10951,1.42,2.88,128.80,1.170,4,0.045,0.084,3545,3935,2594,0,0,0,0,0,0
$GC,11083,1.15,146.0,883.5,11.1,392,11089,0.17,2.75,0.00,0.000,6,0.110,0.058,3510,2363,2588,0,0,0,0,0,0
$GC,11356,1.19,174.8,859.1,8.7,399,11389,0.00,2.80,26.15,1.104,4,0.000,0.068,3510,3931,2476,0,0,0,0,0,0
$GC,11401,1.16,186.3,854.7,9.5,400,11420,0.00,2.72,12.05,1.022,6,0.000,0.051,3510,2366,2430,0,0,0,0,0,0
$GC,11685,1.16,186.3,825.2,10.6,407,11690,0.00,2.72,0.00,0.000,4,0.000,0.065,3510,3931,2425,0,0,0,0,0,0
$GC,11700,1.16,186.3,823.1,10.5,407,11705,0.00,2.65,0.00,0.000,6,0.000,0.050,3510,2369,2425,0,0,0,0,0,0
$GC,11962,1.16,186.3,796.5,10.1,414,11963,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2369,2424,0,0,0,0,0,0
$GC,12208,1.16,189.6,772.2,9.9,420,12213,0.00,2.70,0.00,0.000,4,0.000,0.064,3510,3931,2422,0,0,0,0,0,0
$GC,12248,1.17,190.5,767.7,10.0,421,12253,0.00,2.65,0.00,0.000,6,0.000,0.048,3510,2373,2421,0,0,0,0,0,0
$GC,12532,1.18,204.9,740.9,9.3,428,12551,0.00,0.00,17.55,1.038,6,0.000,0.000,3510,2374,2354,0,0,0,0,0,0
$GC,12778,1.18,204.9,716.2,10.2,434,12782,0.00,2.70,0.00,0.000,4,0.000,0.059,3510,3934,2350,0,0,0,0,0,0
$GC,12799,1.18,204.9,713.6,10.3,434,12803,0.00,2.65,0.00,0.000,6,0.000,0.045,3510,2377,2349,0,0,0,0,0,0
$GC,13060,1.18,205.5,687.4,10.0,441,13062,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2377,2349,0,0,0,0,0,0
$GC,13306,1.18,205.5,662.9,10.1,447,13311,0.00,2.67,0.00,0.000,4,0.000,0.060,3510,3930,2349,0,0,0,0,0,0
$GC,13322,1.18,205.5,660.7,10.5,447,13327,0.00,2.62,0.00,0.000,6,0.000,0.050,3510,2376,2348,0,0,0,0,0,0
$GC,13585,1.18,205.5,634.1,10.2,454,13590,0.00,2.67,0.00,0.000,4,0.000,0.064,3510,3935,2348,0,0,0,0,0,0
$GC,13601,1.18,205.5,632.1,10.0,454,13606,0.00,2.62,0.00,0.000,6,0.000,0.048,3510,2383,2348,0,0,0,0,0,0
$GC,13865,1.18,205.5,605.5,10.3,461,13866,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2384,2348,0,0,0,0,0,0
$GC,14106,1.19,210.4,581.4,9.8,467,14117,0.00,2.67,5.53,0.752,4,0.000,0.056,3510,3938,2331,0,0,0,0,0,0
$GC,14133,1.19,210.4,578.6,10.2,467,14138,0.00,2.62,0.00,0.000,6,0.000,0.044,3510,2389,2331,0,0,0,0,0,0
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$STATE,19663,end climb,SURFACE_DEPTH_REACHED
$STATE,19663,begin surface coast
$FINISH,1.1,1.023234
$STATE,19705,end surface coast,CONTROL_FINISHED_OK
$STATE,19706,begin surface
$SM_CCo,19728,27.38,0.472,0,0,1762,350.04
$SM_GC,1.92,0.00,0.00,27.38,0.000,0.000,0.472,458,2171,1762,-12.89,-1.07,350.04
$IRIDIUM_FIX,1918.37,-8112.45,250702,101044
$TT8_MAMPS,0.026078
$HUMID,62.40
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$TCM_TEMP,24.80
$XPDR_PINGS,144
$24V_AH,23.1,67.967
$10V_AH,10.0,60.500
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,31.550,180.100,410.650,27.375,0.000,27.008,32.884,192.995,36.000,0.000,11.890,1546.555,15037.398,531.294,2314.583,742.477,33.376,1518.223,0.000,2310.920,0.000,0.536,0.000
$DEVICE_MAMPS,156.468,157.235,1200.355,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,504.499,347.920,443.235,575.346,1094.143,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355844
$DATA_FILE_SIZE,57425,746
$CAP_FILE_SIZE,167812,0
$CFSIZE,260165632,94359552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300413,211036,1925.837,-8111.718,30,1.1,30,-3.8